Structure and function of one-dimensional two-way pneumatic flexible bending joint

摘要

Abstract In order to solve the problems of comprehensive flexibility of robot arm, and expand the application field of service robot and improve the safety, a one-dimensional two-way flexible bending joint is developed by using the self-developed pneumatic artificial muscle. The relevant theoretical model is established and the relevant experimental analysis is carried out. The experimental results show that the bending joint can realize one-dimensional two-way bending motion and the bending angle of the joint can be controlled by adjusting the gas pressure; when the air pressure difference between the two sides of the leaf spring is 0.22Mpa, the maximum bending angle of the joint reaches 74.12 degrees; the forward and reverse bending of the joint are consistent, and the joint bending curve is similar to the arc.